Stockholder's Equity - Schedule of Reserved Common Stock for Warrants to Purchase Common Stock and Future Issuance (Details)	Jun. 30, 2022 shares
Schedule Of Capitalization [Line Items]
Common Stock, Capital Stock Reserved for Future Issuance	12,110,467
2019 Stock Incentive Plan Exercised [Member]
Schedule Of Capitalization [Line Items]
Common Stock, Capital Stock Reserved for Future Issuance	3,546,461
2020 Stock Option and Incentive Plan Exercised [Member]
Schedule Of Capitalization [Line Items]
Common Stock, Capital Stock Reserved for Future Issuance	3,041,526
2020 Stock Option and Incentive Plan Restricted [Member]
Schedule Of Capitalization [Line Items]
Common Stock, Capital Stock Reserved for Future Issuance	1,680,687
2020 Stock Option and Incentive Plan Future Issuance [Member]
Schedule Of Capitalization [Line Items]
Common Stock, Capital Stock Reserved for Future Issuance	2,527,779
2020 Employee Stock Option Purchase Plan Future Issuance [Member]
Schedule Of Capitalization [Line Items]
Common Stock, Capital Stock Reserved for Future Issuance	1,314,014